HIV is very specific for how it is transmitted. There are only three ways and they include if you had unprotected vaginal, unprotected anal or sharing IV needles to inject drugs. Air and saliva inactivate the virus. So, the protection for oral, the protection for actual penetrating sex even with same condom is safe. You had a barrier and no risk for hiv or std's. Even a bit of saliva getting on your skin poses no risk. no reason to worry or test.
Also to add on a little bit of her saliva touched my skin during oral